LITERATURE REVIEW IN THE FIELDS OF STANDARDS, PROJECTS, INDUSTRY AND SCIENCE DOCUMENT TYPE: DELIVERABLE DELIVERABLE N0: D1.1 DISTRIBUTION LEVEL: PUBLIC DATE: 11/07/2016 VERSION: FINAL AUTHOR(S): LEONID LICHTENSTEIN, FLORIAN RIES, MICHAEL VÖLKER, JOS HÖLL, CHRISTIAN KÖNIG (TWT); JOSEF ZEHETNER (AVL); OLIVER KOTTE, ISIDRO CORAL, LARS MIKELSONS (BOSCH); NICOLAS AMRINGER, STEFFEN BERINGER, JANEK JOCHHEIM, STEFAN WALTER (DSPACE); CORINA MITROHIN, NATARAJAN NAGARAJAN (ETAS); TORSTEN BLOCHWITZ (ITI); DESHENG FU (LUH); TIMO HAID (PORSCHE); JEAN- MARIE QUELIN (RENAULT); RENE SAVELSBERG, SERGE KLEIN (RWTH); PACOME MAGNIN, BRUNO LACABANNE (SIEMENS); VIKTOR SCHREIBER (TU-IL); MARTIN KRAMMER, NADJA MARKO, MARTIN BENEDIKT, STEFAN THONHOFER, GEORG STETTINGER, MARKUS TRANNINGER (VIF); THIES FILLER (VW) REVIEWED: BRUNO LACABANNE (SIEMENS), JEAN-MARIE QUELIN (RENAULT), VALENTIN IVANOV (TUIL), JOSEF ZEHETNER (AVL), NADJA MARKO (VIF) APPROVED: LEONID LICHTENSTEIN (TWT), MARTIN BENEDIKT (VIF) D1.1 ACOSAR PROJECT ACRONYM: ACOSAR PROJECT TITLE: ADVANCED CO-SIMULATION OPEN SYSTEM ARCHITECTURE ITEA PROJECT N0: 14004 CHALLENGE: ENGINEERING PROJECT DURATION: 01/09/2015 - 31/08/2018 PROJECT WEBSITE: WWW.ACOSAR.EU COORDINATION: VIRTUAL VEHICLE RESEARCH CENTER (AT) PROJECT LEADER: DR. MARTIN BENEDIKT 14004 – Deliverable D1.1 – Distribution Level: Public 2 / 126 D1.1 ACOSAR 14004 – Deliverable D1.1 – Distribution Level: Public 3 / 126 D1.1 ACOSAR 1 Contents 1 Contents........................................................................................................................ 4 2 Executive summary ......................................................................................................... 5 3 Introduction ................................................................................................................... 7 4 State of the Art .............................................................................................................. 8 4.1 (Distributed) Discrete-Event Simulation ....................................................................... 8 4.2 (Distributed) Continuous Simulation ........................................................................... 12 4.3 (Distributed) Hybrid Simulation ................................................................................. 17 4.4 (Distributed)Real-Time Simulation ............................................................................. 22 4.5 Communication Standards ........................................................................................ 27 4.6 Real-Time Systems .................................................................................................. 45 4.7 Interoperability and Related Standards ....................................................................... 50 4.8 Requirements, Modelling, Design, and Specification for Integration ................................. 70 4.9 Related Research Projects ......................................................................................... 75 5 Overview of State of Practice and Used Tools ..................................................................... 98 5.1 Introduction ............................................................................................................ 98 5.2 Used Tools.............................................................................................................. 98 5.3 Summary and Conclusion ....................................................................................... 114 6 Discussion and Conclusion ............................................................................................. 116 7 Glossary ..................................................................................................................... 118 8 References .................................................................................................................. 121 9 Acknowledgment ......................................................................................................... 126 14004 – Deliverable D1.1 – Distribution Level: Public 4 / 126 D1.1 ACOSAR 2 Executive summary The main goal of ACOSAR is to develop a non-proprietary real time (RT) co-simulation interface. This document presents a survey of the relevant state of the art and state of practice. Different technical domains that are relevant for the ACOSAR project were analysed, reviewed and summarized. A short summary of every chapter is presented in the following. Discrete-Event Simulation is a simulation method, where the operation is represented as a chronological sequence of events. There are various synchronization algorithms which are optimized for different systems and environments. These algorithms are relevant for ACOSAR in terms of the synchronized exchange of information between simulators and RT systems and have to be considered during the specification of the advanced co-simulation interface (ACI). Continuous Simulation serves as fundamental basis for numerical investigation of dynamic system behaviours and powerful explicit and implicit numerical solvers were developed for dedicated classes of systems. In contrast to numerical simulation, recently several approaches were published with respect to event-based simulation of continuous system dynamics, leading to significant benefits in terms of accuracy and simulation time reduction. Both approaches will be considered and incorporated into ACOSAR results. Hybrid Simulation represents an approach, where continuous and discrete system behaviours are handled. As cross-domain considerations of embedded systems and mechatronic products is mandatory hybrid system analysis become more and more relevant. Recently discussed approaches for simulation of hybrid systems are considered for ACI specification within ACOSAR to enable and support a common approach for integration if Real-Time Systems. Real-time simulation aims at providing the right information and data at the right time, while an actual system is operating. This type of simulation is typically employed in the later stages of a system development cycle, when real components are integrated and run in parallel to simulated systems. A large variety of real-time simulation approaches exists in the literature and practice. ACOSAR’s goal is, therefore, to identify, tailor, and extend existing techniques in real-time simulation to generate a standard interface for such simulations. In a co-simulation scenario, the communication layer realizes the data transmission between the different participating systems. ACOSAR’s goal is to define a certain level of communication protocol abstraction such that various existing communication protocols can be supported. The large group of existing communication standards can be roughly categorized in internet protocol (IP) based, automotive and industrial standards. Each category has its own applications. The ACI communication layer should be able to support a large variety of communication standards to make sure that all desired use cases can be properly addressed. The ACI communication layer should therefore be flexible enough to support the given communication standards while it can still be extended to support some additional communication standards in the future. A real-time system is a combination of soft- and hardware that must process information and produce a response within a specified time. Usually it consists of a physical component and a controller, an entity observing and eventually controlling the physical part. Structured approaches and requirements have been reported in the literature for networked real-time systems, e.g., in terms of timeliness, predictability, efficiency, robustness, fault tolerance, and maintainability. Within ACOSAR, the challenge will be to close gaps between existing solutions at the levels of the simulation tool interface, communication protocol and the hardware interface. Several interoperability standards exist for the integration of RT systems and non-RT systems. The review shows that there is an ongoing strong interest and effort to standardize interfaces of systems to further streamline the systems development process. None of the reviewed standards concerns a generic interface for executing RT co-simulations. Nevertheless, within ACOSAR, some concepts from existing standards shall be considered for reuse. 14004 – Deliverable D1.1 – Distribution Level: Public 5 / 126 D1.1 ACOSAR System modelling languages, like the Unified Modelling Language (UML), support requirements engineering, specification, analysis, design as wells as verification and validation of systems. Many system problems result from inadequately defined interfaces. These problems are often detected too late in the development process. The ACI aims at providing clear interface specifications for RT system integration at different development stages. The use of modelling languages for interface specification is favourable as it provides a way to continuous refinement through the use of recurring interface information. A large set of recent and ongoing research projects was reviewed. A clear trend towards integrated, holistic approaches to model-based systems engineering in real time, across domains and enterprises with a focus on openness and standards was determined. ACOSAR aims for exactly this openness and flexibility in the systems development process. However, ACOSAR also faces the challenge of suiting a large group of divers use cases. ACOSAR partners have provided information on their commonly used tools